EP1596331A3 - Method and apparatus for determining position and orientation - Google Patents

Method and apparatus for determining position and orientation Download PDF

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Publication number
EP1596331A3
EP1596331A3 EP05252915A EP05252915A EP1596331A3 EP 1596331 A3 EP1596331 A3 EP 1596331A3 EP 05252915 A EP05252915 A EP 05252915A EP 05252915 A EP05252915 A EP 05252915A EP 1596331 A3 EP1596331 A3 EP 1596331A3
Authority
EP
European Patent Office
Prior art keywords
orientation
imaging device
sensor
measured
coordinates
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP05252915A
Other languages
German (de)
French (fr)
Other versions
EP1596331A2 (en
EP1596331B1 (en
Inventor
Kiyohide Canon Kabushiki Kaisha Satoh
Shinji Canon Kabushiki Kaisha Uchiyama
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canon Inc
Original Assignee
Canon Inc
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Filing date
Publication date
Application filed by Canon Inc filed Critical Canon Inc
Publication of EP1596331A2 publication Critical patent/EP1596331A2/en
Publication of EP1596331A3 publication Critical patent/EP1596331A3/en
Application granted granted Critical
Publication of EP1596331B1 publication Critical patent/EP1596331B1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/70—Determining position or orientation of objects or cameras
    • G06T7/73—Determining position or orientation of objects or cameras using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/24—Aligning, centring, orientation detection or correction of the image
    • G06V10/242—Aligning, centring, orientation detection or correction of the image by image rotation, e.g. by 90 degrees
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/24—Aligning, centring, orientation detection or correction of the image
    • G06V10/245—Aligning, centring, orientation detection or correction of the image by locating a pattern; Special marks for positioning

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Image Processing (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Gyroscopes (AREA)

Abstract

An index detector detects image coordinates of indices arranged on a scene from an image shot by an imaging device. An orientation sensor is attached to the imaging device, and outputs a measured orientation. An orientation prediction unit predicts an orientation of the imaging device on the basis of the measured orientation obtained by the orientation sensor. A position/orientation calculator receives the predicted orientation of the imaging device and a set of the image coordinates and world coordinates of each index, determines the position of the imaging device and an update value for an azimuth-drift-error correction value of the orientation sensor, and calculates the position and orientation of the imaging device.
EP05252915A 2004-05-14 2005-05-12 Method and apparatus for determining position and orientation Expired - Lifetime EP1596331B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2004144892 2004-05-14
JP2004144892A JP4593968B2 (en) 2004-05-14 2004-05-14 Position and orientation measurement method and apparatus

Publications (3)

Publication Number Publication Date
EP1596331A2 EP1596331A2 (en) 2005-11-16
EP1596331A3 true EP1596331A3 (en) 2008-02-13
EP1596331B1 EP1596331B1 (en) 2011-09-21

Family

ID=34941262

Family Applications (1)

Application Number Title Priority Date Filing Date
EP05252915A Expired - Lifetime EP1596331B1 (en) 2004-05-14 2005-05-12 Method and apparatus for determining position and orientation

Country Status (5)

Country Link
US (1) US7752008B2 (en)
EP (1) EP1596331B1 (en)
JP (1) JP4593968B2 (en)
CN (1) CN100408969C (en)
AT (1) ATE525711T1 (en)

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US8933986B2 (en) 2010-05-28 2015-01-13 Qualcomm Incorporated North centered orientation tracking in uninformed environments
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JP5728372B2 (en) 2011-11-30 2015-06-03 キヤノン株式会社 Information processing apparatus, information processing apparatus control method, and program
KR101874895B1 (en) * 2012-01-12 2018-07-06 삼성전자 주식회사 Method for providing augmented reality and terminal supporting the same
JP5863034B2 (en) * 2012-02-17 2016-02-16 Kddi株式会社 Information terminal equipment
KR101402082B1 (en) 2013-01-10 2014-06-19 주식회사 이미지넥스트 Tolerance Compensating System and Method using Pose Sensor
EP3049005B1 (en) 2013-09-24 2022-08-10 Adagio Medical, Inc. Endovascular near critical fluid based cryoablation catheter
JP6413097B2 (en) * 2014-02-05 2018-10-31 パナソニックＩｐマネジメント株式会社 Object detection device
US10024955B2 (en) 2014-03-28 2018-07-17 GM Global Technology Operations LLC System and method for determining of and compensating for misalignment of a sensor
GB2524983B (en) * 2014-04-08 2016-03-16 I2O3D Holdings Ltd Method of estimating imaging device parameters
US10617459B2 (en) 2014-04-17 2020-04-14 Adagio Medical, Inc. Endovascular near critical fluid based cryoablation catheter having plurality of preformed treatment shapes
KR101994471B1 (en) 2014-11-13 2019-06-28 아다지오 메디컬, 인크. Pressure modulated cryoablation system and related methods
US9886801B2 (en) * 2015-02-04 2018-02-06 GM Global Technology Operations LLC Vehicle sensor compensation
WO2016203282A1 (en) * 2015-06-18 2016-12-22 The Nielsen Company (Us), Llc Methods and apparatus to capture photographs using mobile devices
JP6584208B2 (en) * 2015-08-07 2019-10-02 キヤノン株式会社 Information processing apparatus, information processing method, and program
WO2017048965A1 (en) 2015-09-18 2017-03-23 Adagio Medical Inc. Tissue contact verification system
US9986150B2 (en) * 2015-09-30 2018-05-29 Ricoh Co., Ltd. Algorithm to estimate yaw errors in camera pose
US10104282B2 (en) 2015-09-30 2018-10-16 Ricoh Co., Ltd. Yaw user interface
US10864031B2 (en) 2015-11-30 2020-12-15 Adagio Medical, Inc. Ablation method for creating elongate continuous lesions enclosing multiple vessel entries
US10509097B2 (en) * 2016-03-31 2019-12-17 Hughes Network Systems, Llc Correcting satellite pointing direction
JP6702543B2 (en) * 2016-05-31 2020-06-03 株式会社東芝 Information processing apparatus, method and program
CN106352824B (en) * 2016-08-31 2019-01-25 沈阳东软医疗系统有限公司 A kind of means for correcting of Suspenoing apparatus movement position and bearing calibration
JP2020532408A (en) 2017-09-05 2020-11-12 アダージョ メディカル インコーポレイテッドＡｄａｇｉｏ Ｍｅｄｉｃａｌ，Ｉｎｃ． Ablation catheter with shape memory stylet
JP7293238B2 (en) 2018-01-10 2023-06-19 アダージョ メディカル インコーポレイテッド Ablation device and system with thermally conductive liner
NL2020405B1 (en) 2018-02-08 2019-08-19 Fugro N V Method of and apparatus for analyzing images
CN109711398B (en) * 2018-12-29 2021-02-19 联想(北京)有限公司 Sensor spatial relationship acquisition method and device and electronic equipment
US11583214B2 (en) 2019-05-09 2023-02-21 The Cleveland Clinic Foundation Adaptive psychological assessment tool
US11676307B2 (en) * 2019-07-05 2023-06-13 Nvidia Corporation Online sensor calibration for autonomous vehicles
EP4102326A4 (en) * 2020-02-07 2023-08-02 Panasonic Intellectual Property Management Co., Ltd. Positioning system
CN111854678B (en) * 2020-07-17 2022-02-15 浙江工业大学 Pose measurement method based on semantic segmentation and Kalman filtering under monocular vision
CN117355397A (en) * 2021-05-27 2024-01-05 发那科株式会社 A shooting device that calculates a three-dimensional position based on images captured by a vision sensor
CN115824051A (en) * 2023-01-10 2023-03-21 江苏智慧优视电子科技有限公司 Heavy truck battery visual positioning method and system capable of achieving rapid iterative convergence

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Also Published As

Publication number Publication date
CN100408969C (en) 2008-08-06
CN1865842A (en) 2006-11-22
US7752008B2 (en) 2010-07-06
JP4593968B2 (en) 2010-12-08
JP2005326282A (en) 2005-11-24
ATE525711T1 (en) 2011-10-15
EP1596331A2 (en) 2005-11-16
US20050261573A1 (en) 2005-11-24
EP1596331B1 (en) 2011-09-21

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